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jkk-research / urban_road_filter

Real-time LIDAR-based Urban Road and Sidewalk detection for Autonomous Vehicles 🚗
BSD 3-Clause "New" or "Revised" License
296 stars 80 forks source link

Here should be [rep-1] #13

Closed kechaofan closed 2 years ago

kechaofan commented 2 years ago

https://github.com/jkk-research/urban_road_filter/blob/334338f294155344cb0d5f2b7fedcfee0007970e/src/star_shaped_search.cpp#L58

csaplaci commented 2 years ago

you are right

thank you for the feedback - it will be corrected soon

(actually it is a remnant of a proposed but later abandoned feature/solution to extract points from adjacent detection beams if they are overlapping close to the pole of the coordinate system - would they have insufficient data as the preliminary filter would cut them off in a circular sector shape, leaving only a fraction of the points at disposal for detection...

...the problem itself did not arise though, so the algorithm never got implemented - therefore the code snippet is obsolete and will be disposed of accordingly)

i hope it did not cause any significant problems